CN117331305B - Method and system for associating control parameters and oscillation characteristics of water turbine adjusting system - Google Patents
Method and system for associating control parameters and oscillation characteristics of water turbine adjusting system Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a method and a system for associating control parameters and oscillation characteristics of a water turbine adjusting system, belonging to the technical field of analysis of oscillation characteristics of the water turbine adjusting system, wherein the method comprises the following steps: calculating characteristic values, zero points and poles of a state matrix in a state space model of the water turbine regulating system, and taking the pole closest to the virtual axis and having no zero point within a preset distance as a leading characteristic value; determining an oscillation characteristic area of a water turbine adjusting system on a complex plane according to the dominant eigenvalue; acquiring a system control parameter stability domain by using a Hulvitz stability criterion; and calculating dominant eigenvalues corresponding to different control parameters, classifying the control parameters according to the oscillation characteristic areas of the complex plane where the dominant eigenvalues are located, and dividing the oscillation characteristic areas in a stable domain of the system control parameters. The invention simplifies the influence of the operator evaluation parameter setting on the system oscillation.
Description
Technical Field
The invention belongs to the technical field of oscillation characteristic analysis of a water turbine adjusting system, and particularly relates to a method and a system for associating control parameters and oscillation characteristics of the water turbine adjusting system.
Background
In recent years, the ultra-low frequency oscillation frequency of the hydropower leading system is increased, so that the power supply quality and the long-distance power transmission capacity of the system are reduced, the frequency modulation unit speed regulator is enabled, and the service life of the speed regulator is shortened. In severe cases, the ultra-low frequency oscillations may result in large-scale operation of the relay protection unit, which may result in large-area power outages. The control parameters of the water turbine adjusting system obviously influence the adjusting characteristics of the hydroelectric system, and the system oscillation corresponding to different control parameters is defined as the basis for guaranteeing the safe and stable operation of the system, and the fine partition of the control parameters is critical to the adjustment and optimization of the control parameters. In the past, the oscillation characteristics of the system corresponding to the system control parameters are determined by adopting a time domain simulation mode, and only the adjusted performance is constrained, and the control parameters are not partitioned, so that the quick adjustment of operators and the understanding of the oscillation characteristics of the system are not facilitated. Therefore, a method for associating control parameters and oscillation characteristics of a water turbine adjusting system is provided, the adjusting oscillation characteristics of the system are intuitively reflected in detailed division of a control parameter stability domain, and the control parameter stability domain is divided into an ultralow frequency oscillation risk area, an ultralow frequency oscillation safety area and the like. This helps the operator to quickly evaluate the impact of parameter settings on system oscillations, define parameter boundaries for risk operations, and thereby promote safe operation of the unit.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method and a system for associating control parameters and oscillation characteristics of a water turbine adjusting system, and aims to solve the problems that the prior water turbine adjusting system is used for determining the oscillation characteristics of the system corresponding to the control parameters of the system by adopting a time domain simulation method, the adjusted performance is only restricted, and the control parameters are not partitioned, so that the relation between the control parameters and the system oscillation cannot be intuitively acquired, and the safe operation of a water turbine unit cannot be ensured by quickly adjusting the control parameters.
In order to achieve the above object, in one aspect, the present invention provides a method for associating control parameters of a hydraulic turbine adjusting system with oscillation characteristics, comprising the steps of:
step one: calculating characteristic values, zero points and poles of a state matrix in a state space model of the water turbine regulating system, and taking the pole closest to the virtual axis and having no zero point within a preset distance as a leading characteristic value;
step two: determining an oscillation characteristic area of a water turbine adjusting system on a complex plane according to the dominant eigenvalue;
step three: converting a state space model of a water turbine regulating system into a transfer function model, extracting a characteristic equation of the transfer function model, and acquiring a system control parameter stability domain by using a Hulvitz stability criterion;
step four: and calculating dominant characteristic values corresponding to different control parameters in a system control parameter stability domain, classifying the control parameters in the system control parameter stability domain according to a water turbine adjusting system oscillation characteristic region of a complex plane where the dominant characteristic values are located, and dividing a water turbine adjusting system oscillation characteristic region in the system control parameter stability domain.
Further preferably, the dividing method of the oscillation characteristic region of the water turbine adjusting system is as follows: determining the system oscillation frequency by adopting the imaginary part of the dominant eigenvalue, and dividing a complex plane into an oscillation-free area, an oscillation area of 0-0.01 Hz, an ultralow frequency oscillation area and an oscillation area above 0.1 Hz; determining the attenuation rate of the system by adopting the real part of the dominant eigenvalue, and dividing an ultralow frequency oscillation area in a complex plane into an ultralow frequency oscillation safety area and an ultralow frequency oscillation risk area; wherein, the real part is less than or equal to-0.07 and is divided into an ultralow frequency oscillation safety area, otherwise, the real part is divided into an ultralow frequency oscillation safety area.
Further preferably, the hydraulic turbine tuning system state space model comprises a speed regulator sub-model, a diversion module sub-model, a hydraulic turbine sub-model and a generator sub-model.
Further preferably, the characteristic equation of the transfer function model is:
wherein,is characteristic value (I)>For the characteristic equation coefficient>；/>Is the system order, determined by the number of state variables in the state space model.
Further preferably, the fourth step is specifically: according to the control parameters in the stable domain of the fixed step enumeration control parameters, calculating dominant eigenvalues corresponding to the control parameters, classifying the control parameters in the stable domain of the system control parameters according to the oscillation characteristic region of the water turbine regulating system of the complex plane where the dominant eigenvalues are located, and calculating control parameters corresponding to an oscillation-free region, an oscillation region of 0-0.01 Hz, an ultra-low frequency oscillation region and an oscillation region above 0.1Hz, thereby realizing the mapping from the oscillation characteristic region of the water turbine regulating system to the plane of the stable domain of the control parameters.
In another aspect, the present invention provides a system for correlating control parameters of a hydraulic turbine tuning system with oscillation characteristics, comprising:
the construction module of the state space model of the water turbine adjusting system is used for constructing the state space model of the water turbine adjusting system;
the dominant eigenvalue acquisition module is used for calculating eigenvalues, zero points and poles of a state matrix in a state space model of the water turbine adjusting system, and taking the pole closest to the virtual axis and without zero points in a preset distance as the dominant eigenvalue;
the determining module is used for determining the oscillation characteristic area of the water turbine adjusting system on a complex plane according to the dominant characteristic value;
the system control parameter stability domain acquisition module is used for converting a state space model of a water turbine adjusting system into a transfer function model, extracting a characteristic equation of the transfer function model, and acquiring a system control parameter stability domain by using a Hulvitz stability criterion;
the system control parameter stability domain dividing module is used for calculating dominant characteristic values corresponding to different control parameters in the system control parameter stability domain, classifying the control parameters in the system control parameter stability domain according to the water turbine adjusting system oscillation characteristic region of the complex plane where the dominant characteristic values are located, and dividing the water turbine adjusting system oscillation characteristic region in the system control parameter stability domain.
Further preferably, the dividing method of the oscillation characteristic region of the water turbine adjusting system is as follows: determining the system oscillation frequency by adopting the imaginary part of the dominant eigenvalue, and dividing a complex plane into an oscillation-free area, an oscillation area of 0-0.01 Hz, an ultralow frequency oscillation area and an oscillation area above 0.1 Hz; determining the attenuation rate of the system by adopting the real part of the dominant eigenvalue, and dividing an ultralow frequency oscillation area in a complex plane into an ultralow frequency oscillation safety area and an ultralow frequency oscillation risk area; wherein, the real part is less than or equal to-0.07 and is divided into an ultralow frequency oscillation safety area, otherwise, the real part is divided into an ultralow frequency oscillation safety area.
Further preferably, the hydraulic turbine tuning system state space model comprises a speed regulator sub-model, a diversion module sub-model, a hydraulic turbine sub-model and a generator sub-model.
Further preferably, the characteristic equation of the transfer function model in the acquisition module of the system control parameter stability domain is:
wherein,is characteristic value (I)>For the characteristic equation coefficient>；/>Is the system order, determined by the number of state variables in the state space model.
Further preferably, the method for specifically dividing the system control parameter stability domain by the system control parameter stability domain dividing module includes: according to the control parameters in the stable domain of the fixed step enumeration control parameters, calculating dominant eigenvalues corresponding to the control parameters, classifying the control parameters in the stable domain of the system control parameters according to the oscillation characteristic region of the water turbine regulating system of the complex plane where the dominant eigenvalues are located, and calculating control parameters corresponding to an oscillation-free region, an oscillation region of 0-0.01 Hz, an ultra-low frequency oscillation region and an oscillation region above 0.1Hz, thereby realizing the mapping from the oscillation characteristic region of the water turbine regulating system to the plane of the stable domain of the control parameters.
In a third aspect, the present application provides an electronic device, comprising: at least one memory for storing a program; at least one processor for executing a memory-stored program, the processor being adapted to perform the method of the first aspect or any of the further preferred described methods of the first aspect when the memory-stored program is executed.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which, when run on a processor, causes the processor to perform the method of the first aspect or any one of the further preferred described methods of the first aspect.
In a fifth aspect, the present application provides a computer program product which, when run on a processor, causes the processor to perform the method of the first aspect or any of the further preferred described methods of the first aspect.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
the invention provides a method and a system for associating control parameters and oscillation characteristics of a water turbine adjusting system, wherein an oscillation characteristic area of the water turbine adjusting system is determined on a complex plane according to dominant characteristic values; converting the state space model of the water turbine regulating system into a transfer function model, extracting a characteristic equation of the transfer function model, and acquiring a system control parameter stability domain by using a Hulvitz stability criterion; and calculating dominant characteristic values corresponding to different control parameters in a system control parameter stability domain, classifying the control parameters in the system control parameter stability domain according to a water turbine adjusting system oscillation characteristic region of a complex plane where the dominant characteristic values are located, and dividing a water turbine adjusting system oscillation characteristic region in the system control parameter stability domain. It can be seen that the invention establishes detailed partition of the control parameters, which can distinguish whether the control parameters can stabilize the water turbine adjusting system or not, and distinguish whether the control parameters can make the water turbine adjusting system generate oscillation, generate oscillation of what frequency range, and whether the generated oscillation can be attenuated rapidly or not. Compared with the prior art, the method adopts a time domain simulation mode (needing to calculateAnd->) According to the invention, as the oscillation characteristic region of the water turbine adjusting system is divided in the stable domain of the system control parameters, the corresponding oscillation characteristic of the water turbine adjusting system can be directly obtained by adjusting the control parameters each time, and the processing complexity of the control parameters is greatly reduced. The adjustment of the existing control parameters often requires the evaluation of operators, and the divided system control parameter stability domain obtained by the invention is suitable for any operator reference, and intelligent equipment such as a computer and the like can also be adopted to control the water turbine adjusting system. The influence of the control parameter setting on the system oscillation is simplified for the operator.
The invention provides a method and a system for associating control parameters and oscillation characteristics of a water turbine adjusting system, wherein complex plane oscillation characteristics are mapped to a control parameter stability domain plane, a control parameter safety adjustment area of ultralow frequency oscillation is defined through division of the control parameters, a parameter boundary of risk operation is defined, and adjustment of the control parameters by power-assisted operators is facilitated, so that safe operation of a water turbine unit is promoted.
Drawings
FIG. 1 is a flow chart of a method for correlating control parameters and oscillation characteristics of a hydraulic turbine adjusting system according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a state space model of a hydraulic turbine adjusting system according to embodiment 1 of the present invention;
FIG. 3 is a diagram showing the determination of dominant eigenvalues of the hydraulic turbine adjusting system according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of different oscillation modes of the hydraulic turbine adjusting system according to embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of the risk and safety zone of the ultra-low frequency oscillation provided in embodiment 1 of the present invention;
FIG. 6 is a graph showing the different oscillation mode zones of the control parameters provided in embodiment 1 of the present invention;
FIG. 7 is a diagram showing a safe zone and a risk zone for controlling different oscillations of parameters according to embodiment 1 of the present invention;
fig. 8 is a schematic diagram of a system for correlating control parameters and oscillation characteristics of a hydraulic turbine adjusting system according to embodiment 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The term "and/or" herein is an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. The symbol "/" herein indicates that the associated object is or is a relationship, e.g., A/B indicates A or B.
The terms "first" and "second" and the like in the description and in the claims are used for distinguishing between different objects and not for describing a particular sequential order of objects. For example, the first response message and the second response message, etc. are used to distinguish between different response messages, and are not used to describe a particular order of response messages.
In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" means two or more, for example, a plurality of processing units means two or more processing units and the like; the plurality of elements means two or more elements and the like.
The invention provides a method and a system for associating control parameters and oscillation characteristics of a water turbine adjusting system, which intuitively reflect the adjusting oscillation characteristics of the system in detailed division of a control parameter stability domain, wherein the control parameter stability domain is divided into an ultralow frequency oscillation risk area, an ultralow frequency oscillation safety area and the like, which are beneficial to operators to quickly evaluate the influence of parameter setting on system oscillation and define parameter boundaries of risk operation, thereby promoting safe operation of a unit.
Example 1
In the embodiment, a hydropower station is used as a research correspondence, and parameters of a specific water turbine adjusting system are shown in a table 1;
TABLE 1
As shown in fig. 1, the invention provides a method for associating control parameters and oscillation characteristics of a water turbine adjusting system, which comprises the following steps:
step one: as shown in fig. 2, a state space model of a water turbine regulating system is established; the state space model of the water turbine adjusting system comprises a speed regulator, a water diversion module, a water turbine and a generator; the relation between the state variable of the water turbine adjusting system and the system matrix formed by the parameters of each module is represented by a state space model, and the system state matrix is determined;
the method comprises the following steps: the hydraulic turbine adjusting system submodel comprises: the system comprises a PID speed regulator, a water diversion module, a water turbine and a generator; the PID governor submodel may be expressed as:
wherein,is a proportional coefficient->For the integral coefficient +.>Is a differential coefficient +.>Is differential time constant, +.>Is a permanent state slip coefficient +.>,/>And->Respectively a proportional signal, an integral signal and a differential signal,xfor the relative value of the rotational speed deviation of the machine set, < >>For setting the relative value of the rotational speed, < >>Andythe output signal of the auxiliary servomotor and the deviation relative value of the opening degree of the guide vane are respectively; />For assisting the servomotor reaction time constant, +.>The reaction time constant of the main servomotor;
the priming module submodel may be expressed as:
wherein,,/>,/>,/>are all guidesCalculated intermediate state variables introduced into the calculation of second order approximately elastic water shots, +.>,/>,/>The water hammer phases of the pressure pipeline, the draft tube and the tail water tunnel are respectively equal; />，/>，/>The characteristic coefficients of the pipelines are respectively a pressure pipeline, a draft tube and a tail water tunnel; />Relative value of head deviation for pressure pipe end section, < ->Is the deviation relative value of the inlet head of the draft tube, < ->The deviation relative value of the outlet water head of the draft tube; />Is the deviation relative value of the flow of the water turbine, +.>Is the deviation relative value of the outlet flow of the draft tube, +.>The flow deviation relative value is the pressure regulating well flow deviation relative value; />For adjustingA kill flow time constant; />Is the time constant of the pressure regulating well; />The deviation relative value of the inlet flow of the tail water tunnel is; />The pipeline loss constant of the tail water tunnel;
the turbine submodel may be expressed as:
wherein,the torque deviation relative value of the water turbine; />The flow deviation relative value of the water turbine; />For the rotational speed deviation relative value, < > for>The relative value of the water turbine head deviation is; />The relative value of the deviation of the opening degree of the guide vane; />The transmission coefficient of the torque of the water turbine to the opening of the guide vane is; />The transmission coefficient of the torque to the rotating speed of the water turbine is; />The transmission coefficient of the torque of the water turbine to the working water head is;/>the transmission coefficient of the flow of the water turbine to the opening of the guide vane; />The transmission coefficient of the flow rate of the water turbine to the rotating speed is used; />The transmission coefficient of the flow of the water turbine to the working water head is obtained;
the generator and load sub-models may be expressed as:
wherein,is the inertial time constant of the unit,/->Deviation relative value for the main torque of the unit, < >>For the load moment deviation relative value, < >>Self-regulating the coefficient for the generator load;
the state space model incorporating the above system can be expressed as:
wherein,，/>，
wherein,
wherein,is a state variable differential vector; />Is output quantity; />Is a state matrix; />Is a state variable vector; />Is a control matrix; />Is a control vector; />Is a state output matrix; />To control the output matrix; />Other elements not shown in the above are all 0; />Other elements not shown in the above are all 0;
step two: as shown in FIG. 3, in step two, the determination of the dominant eigenvalue of the system is performed by first calculating the state matrix in the state space modelIs characterized by system zero and pole; the pole closest to the imaginary axis and having no zero nearby is the dominant pole, also the dominant eigenvalue +.>；
Step three: determining an oscillation characteristic area of a water turbine regulating system on a complex plane according to the dominant characteristic value; in the complex plane, depending on the imaginary part of the dominant eigenvalueDetermining the system oscillation angular frequency, real part +.>Determining a system decay rate; the conversion relation between the system oscillation angle frequency and the system oscillation frequency is +.>The method comprises the steps of carrying out a first treatment on the surface of the Dividing complex plane into no-oscillation area according to system oscillation frequency) An oscillation area (+_0.01Hz)>Hz), ultra-low frequency oscillation region (>Hz) and an oscillation region (++0.1 Hz or higher>Hz), as shown in fig. 4; based on the above, according to the system attenuation factor size +.>Dividing an ultra-low frequency oscillation safe area and an ultra-low frequency oscillation safe area in an oscillation mode area if +.>For the safe area of system oscillation, if +.>A security risk area for system oscillation, as shown in fig. 5;
it should be noted that step three is to determine in complex plane according to dominant eigenvalueThe purpose of the following steps four and five is to obtain the stability domain of the system control parameters (the horizontal axis isK p The vertical axis isK I The constructed plane), and then further dividing the system control parameter stability domain into an ultralow frequency oscillation safety area, a non-ultralow frequency oscillation area and an ultralow frequency oscillation risk area, wherein the system control parameter stability domain is consistent with the division of a complex plane constructed by the dominant eigenvalue, and the difference is that the transverse axis of the complex plane is the real part of the dominant eigenvalue, and the vertical axis is the imaginary part of the dominant eigenvalue; while the horizontal axis of the system control parameter stability domain isK p The vertical axis isK I Those skilled in the art adjustK p AndK I the oscillation characteristic of the water turbine adjusting system can be intuitively obtained; the fourth and fifth steps are specifically described below.
Step four: determining a system control parameter stability domain; judging the stability of the system by using a Hurwitz criterion, and solving a stability domain of a control parameter of the system; the method comprises the following specific steps:
step1: converting the system state space model into a transfer function model:
step2: extracting a characteristic equation of the transfer function model:
wherein,is characteristic value (I)>For the characteristic equation coefficient>For system order->=14；
Step3: control parameter stability domain solving:
as can be seen from the Hulvitz stability criterion, the system has the following stability requirements: at the time of the critical PI condition,，/>the method comprises the steps of carrying out a first treatment on the surface of the Solving->PI critical stability parameters of (a); the inside of the curve is a system control parameter stability domain, and the PI parameter stability domain is shown in FIG. 6;
wherein,is a coefficient of a characteristic equation, which is related to a control parameter; />Is the jth order coefficient determinant; />Is the system order;
step five: determining an oscillation characteristic area of a control parameter stability area; and calculating dominant eigenvalues corresponding to different control parameters in the stable domain, classifying the control parameters according to complex plane oscillation characteristic areas where the dominant eigenvalues are located, realizing mapping from complex plane oscillation characteristics to the control parameter stable domain plane, and dividing oscillation characteristic areas corresponding to the control parameters.
Further preferably, in the fifth step, control parameters are divided according to the system oscillation characteristic areas where the corresponding dominant eigenvalues of different control parameters are located; according to the control parameters in the fixed step enumeration stable domain, corresponding dominant eigenvalues are calculated, the control parameters are classified according to the complex plane oscillation characteristic area where the dominant eigenvalues are located, the control parameters corresponding to the oscillation-free area, the 0-0.01 Hz oscillation area, the ultralow frequency oscillation area and the oscillation area above 0.1Hz are calculated, the division result of the control parameters is shown in figure 7, and the mapping of the complex plane oscillation characteristics to the control parameter stable domain plane is realized.
Example 2
As shown in fig. 8, the present invention provides a system for correlating control parameters and oscillation characteristics of a hydraulic turbine adjusting system, comprising:
the construction module of the state space model of the water turbine adjusting system is used for constructing the state space model of the water turbine adjusting system;
the dominant eigenvalue acquisition module is used for calculating eigenvalues, zero points and poles of a state matrix in a state space model of the water turbine adjusting system, and taking the pole closest to the virtual axis and without zero points in a preset distance as the dominant eigenvalue;
the determining module is used for determining the oscillation characteristic area of the water turbine adjusting system on a complex plane according to the dominant characteristic value;
the system control parameter stability domain acquisition module is used for converting a state space model of a water turbine adjusting system into a transfer function model, extracting a characteristic equation of the transfer function model, and acquiring a system control parameter stability domain by using a Hulvitz stability criterion;
the system control parameter stability domain dividing module is used for calculating dominant characteristic values corresponding to different control parameters in the system control parameter stability domain, classifying the control parameters in the system control parameter stability domain according to the water turbine adjusting system oscillation characteristic region of the complex plane where the dominant characteristic values are located, and dividing the water turbine adjusting system oscillation characteristic region in the system control parameter stability domain.
Further preferably, the dividing method of the oscillation characteristic region of the water turbine adjusting system is as follows: determining the system oscillation frequency by adopting the imaginary part of the dominant eigenvalue, and dividing a complex plane into an oscillation-free area, an oscillation area of 0-0.01 Hz, an ultralow frequency oscillation area and an oscillation area above 0.1 Hz; determining the attenuation rate of the system by adopting the real part of the dominant eigenvalue, and dividing an ultralow frequency oscillation area in a complex plane into an ultralow frequency oscillation safety area and an ultralow frequency oscillation risk area; wherein, the real part is less than or equal to-0.07 and is divided into an ultralow frequency oscillation safety area, otherwise, the real part is divided into an ultralow frequency oscillation safety area.
Further preferably, the hydraulic turbine tuning system state space model comprises a speed regulator sub-model, a diversion module sub-model, a hydraulic turbine sub-model and a generator sub-model.
Further preferably, the characteristic equation of the transfer function model is:
wherein,is characteristic value (I)>For the characteristic equation coefficient>；/>Is the system order, determined by the number of state variables in the state space model.
Further preferably, the method for specifically dividing the system control parameter stability domain by the system control parameter stability domain dividing module includes: according to the control parameters in the stable domain of the fixed step enumeration control parameters, calculating dominant eigenvalues corresponding to the control parameters, classifying the control parameters in the stable domain of the system control parameters according to the oscillation characteristic region of the water turbine regulating system of the complex plane where the dominant eigenvalues are located, and calculating control parameters corresponding to an oscillation-free region, an oscillation region of 0-0.01 Hz, an ultra-low frequency oscillation region and an oscillation region above 0.1Hz, thereby realizing the mapping from the oscillation characteristic region of the water turbine regulating system to the plane of the stable domain of the control parameters.
In summary, compared with the prior art, the invention has the following advantages:
the invention provides a method and a system for associating control parameters and oscillation characteristics of a water turbine adjusting system, wherein detailed partitions of the control parameters are established, so that whether the parameters stabilize the system or not can be distinguished, whether the parameters enable the system to oscillate, what frequency range oscillation is generated, and whether the generated oscillation can be attenuated rapidly or not can be distinguished. The influence of the operator evaluation parameter setting on the system oscillation is simplified.
According to the invention, through the division of the control parameters, the safety adjustment area of the control parameters of the ultralow frequency oscillation is defined, the parameter boundary of the risk operation is defined, and the adjustment of the control parameters by the power-assisted operation personnel is carried out, so that the safety operation of the unit is promoted.
It should be understood that, the system is used to execute the method in the foregoing embodiment, and corresponding program modules in the system implement principles and technical effects similar to those described in the foregoing method, and the working process of the system may refer to the corresponding process in the foregoing method, which is not repeated herein.
Based on the method in the above embodiment, an embodiment of the present application provides an electronic device. The apparatus may include: at least one memory for storing programs and at least one processor for executing the programs stored by the memory. Wherein the processor is adapted to perform the method described in the above embodiments when the program stored in the memory is executed.
Based on the method in the above embodiment, the present application provides a computer-readable storage medium storing a computer program, which when executed on a processor, causes the processor to perform the method in the above embodiment.
Based on the methods in the above embodiments, the present application provides a computer program product, which when run on a processor causes the processor to perform the methods in the above embodiments.
It is to be appreciated that the processor in embodiments of the present application may be a central processing unit (centralprocessing unit, CPU), but may also be other general purpose processors, digital signal processors (digital signalprocessor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate arrays (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general purpose processor may be a microprocessor, but in the alternative, it may be any conventional processor.
The method steps in the embodiments of the present application may be implemented by hardware, or may be implemented by a processor executing software instructions. The software instructions may be comprised of corresponding software modules that may be stored in random access memory (random access memory, RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable programmable PROM (EPROM), electrically erasable programmable EPROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted across a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
It will be appreciated that the various numerical numbers referred to in the embodiments of the present application are merely for ease of description and are not intended to limit the scope of the embodiments of the present application.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. The method for associating the control parameters and the oscillation characteristics of the water turbine adjusting system is characterized by comprising the following steps of:
step one: calculating characteristic values, zero points and poles of a state matrix in a state space model of the water turbine regulating system, and taking the pole closest to the virtual axis and having no zero point within a preset distance as a leading characteristic value;
step two: determining an oscillation characteristic area of a water turbine adjusting system on a complex plane according to the dominant eigenvalue;
step three: converting a state space model of a water turbine regulating system into a transfer function model, extracting a characteristic equation of the transfer function model, and acquiring a system control parameter stability domain by using a Hulvitz stability criterion;
step four: calculating dominant characteristic values corresponding to different control parameters in a system control parameter stability domain, classifying the control parameters in the system control parameter stability domain according to a water turbine adjusting system oscillation characteristic region of a complex plane where the dominant characteristic values are located, and dividing a water turbine adjusting system oscillation characteristic region in the system control parameter stability domain;
wherein the horizontal axis of the system control parameter stability domain isK p The vertical axis isK I ；K p The proportional coefficient of the PID speed regulator in the water turbine regulating system;K I the integral coefficient of the PID speed regulator in the water turbine regulating system;
the dividing method of the oscillation characteristic area of the water turbine adjusting system comprises the following steps: determining the system oscillation frequency by adopting the imaginary part of the dominant eigenvalue, and dividing a complex plane into an oscillation-free area, an oscillation area of 0-0.01 Hz, an ultralow frequency oscillation area and an oscillation area above 0.1 Hz; determining the attenuation rate of the system by adopting the real part of the dominant eigenvalue, and dividing an ultralow frequency oscillation area in a complex plane into an ultralow frequency oscillation safety area and an ultralow frequency oscillation risk area; wherein, the real part is less than or equal to-0.07 and is divided into an ultralow frequency oscillation safety area, otherwise, the real part is divided into an ultralow frequency oscillation safety area.
2. The method of correlating control parameters with oscillation characteristics of a hydraulic turbine tuning system as defined in claim 1, wherein the hydraulic turbine tuning system state space model comprises a governor sub-model, a diversion module sub-model, a hydraulic turbine sub-model, and a generator sub-model.
3. The method for correlating control parameters and oscillation characteristics of a hydraulic turbine tuning system according to claim 1, wherein the characteristic equation of the transfer function model is:
wherein,is characteristic value (I)>For the characteristic equation coefficient>；/>Is the system order, determined by the number of state variables in the state space model.
4. The method for correlating control parameters with oscillation characteristics of a hydraulic turbine tuning system according to claim 1, wherein the fourth step is specifically: according to the control parameters in the stable domain of the fixed step enumeration control parameters, calculating dominant eigenvalues corresponding to the control parameters, classifying the control parameters in the stable domain of the system control parameters according to the oscillation characteristic region of the water turbine regulating system of the complex plane where the dominant eigenvalues are located, and calculating control parameters corresponding to an oscillation-free region, an oscillation region of 0-0.01 Hz, an ultra-low frequency oscillation region and an oscillation region above 0.1Hz, thereby realizing the mapping from the oscillation characteristic region of the water turbine regulating system to the plane of the stable domain of the control parameters.
5. A system for correlating control parameters of a hydraulic turbine tuning system with oscillation characteristics, comprising:
the construction module of the state space model of the water turbine adjusting system is used for constructing the state space model of the water turbine adjusting system;
the dominant eigenvalue acquisition module is used for calculating eigenvalues, zero points and poles of a state matrix in a state space model of the water turbine adjusting system, and taking the pole closest to the virtual axis and without zero points in a preset distance as the dominant eigenvalue;
the determining module is used for determining the oscillation characteristic area of the water turbine adjusting system on a complex plane according to the dominant characteristic value;
the system control parameter stability domain acquisition module is used for converting a state space model of a water turbine adjusting system into a transfer function model, extracting a characteristic equation of the transfer function model, and acquiring a system control parameter stability domain by using a Hulvitz stability criterion;
the system control parameter stability domain dividing module is used for calculating dominant characteristic values corresponding to different control parameters in the system control parameter stability domain, classifying the control parameters in the system control parameter stability domain according to the water turbine adjusting system oscillation characteristic region of the complex plane where the dominant characteristic values are located, and dividing the water turbine adjusting system oscillation characteristic region in the system control parameter stability domain;
wherein the horizontal axis of the system control parameter stability domain isK p The vertical axis isK I ；K p The proportional coefficient of the PID speed regulator in the water turbine regulating system;K I the integral coefficient of the PID speed regulator in the water turbine regulating system;
the dividing method of the oscillation characteristic area of the water turbine adjusting system comprises the following steps: determining the system oscillation frequency by adopting the imaginary part of the dominant eigenvalue, and dividing a complex plane into an oscillation-free area, an oscillation area of 0-0.01 Hz, an ultralow frequency oscillation area and an oscillation area above 0.1 Hz; determining the attenuation rate of the system by adopting the real part of the dominant eigenvalue, and dividing an ultralow frequency oscillation area in a complex plane into an ultralow frequency oscillation safety area and an ultralow frequency oscillation risk area; wherein, the real part is less than or equal to-0.07 and is divided into an ultralow frequency oscillation safety area, otherwise, the real part is divided into an ultralow frequency oscillation safety area.
6. The system of claim 5, wherein the hydraulic turbine tuning system state space model comprises a governor sub-model, a diversion module sub-model, a hydraulic turbine sub-model, and a generator sub-model.
7. The system for correlating control parameters with oscillation characteristics of a hydraulic turbine according to claim 5, wherein the characteristic equation of the transfer function model in the acquisition module of the stability domain of the system control parameters is:
wherein,is characteristic value (I)>For the characteristic equation coefficient>；/>Is the system order, determined by the number of state variables in the state space model.
8. The system for associating control parameters with oscillation characteristics of a water turbine adjusting system according to claim 5, wherein the method for dividing the system control parameter stability domain by the system control parameter stability domain dividing module specifically comprises: according to the control parameters in the stable domain of the fixed step enumeration control parameters, calculating dominant eigenvalues corresponding to the control parameters, classifying the control parameters in the stable domain of the system control parameters according to the oscillation characteristic region of the water turbine regulating system of the complex plane where the dominant eigenvalues are located, and calculating control parameters corresponding to an oscillation-free region, an oscillation region of 0-0.01 Hz, an ultra-low frequency oscillation region and an oscillation region above 0.1Hz, thereby realizing the mapping from the oscillation characteristic region of the water turbine regulating system to the plane of the stable domain of the control parameters.
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